#include "vex.h"
const string team_name = "XJTU";


vex::timer system_kuang;
vex::timer system_hang;


motor mtr_suck = motor(PORT1,false);
motor mtr_chain  = motor(PORT2,gearSetting::ratio6_1,false);

motor mtr_LB = motor(PORT6,gearSetting::ratio6_1,false);
motor mtr_LF = motor(PORT7,gearSetting::ratio6_1,true);
motor mtr_LF1 = motor(PORT8,gearSetting::ratio6_1,true);
motor mtr_LB1 = motor(PORT10,gearSetting::ratio6_1,true);

motor mtr_RF = motor(PORT16,gearSetting::ratio6_1,false);
motor mtr_RB = motor(PORT17,gearSetting::ratio6_1,false);
motor mtr_RF1 = motor(PORT18,gearSetting::ratio6_1,true);
motor mtr_RB1 = motor(PORT19,gearSetting::ratio6_1,false);

motor mtr_arml =  motor(PORT5,gearSetting::ratio18_1,false);
motor mtr_armr = motor(PORT15,gearSetting::ratio18_1,true);


inertial imu(PORT3);


Solenoid_Driver clamp =
    Solenoid_Driver("clamp", Brain.ThreeWirePort.A,
                    Solenoid_Driver::Solenoid_Driver_Type::DigitalOut);

Solenoid_Driver hanger =
    Solenoid_Driver("hanger", Brain.ThreeWirePort.B,
                    Solenoid_Driver::Solenoid_Driver_Type::DigitalOut);

Solenoid_Driver sucklock =
    Solenoid_Driver("sucklock", Brain.ThreeWirePort.C,
                    Solenoid_Driver::Solenoid_Driver_Type::DigitalOut);


vision vis = vision(PORT14, 50, vis_RED,vis_BLUE);
